Curve-based Approach for Optimal Trajectory Planning with Optimal Energy Consumption: application to Wheeled Mobile Robots

Singh, Inderjeet; Singh, Manarshhjot; Bensekrane, Ismail; Lakhal, Othman

doi:10.1016/j.ifacol.2020.12.2615

Cited by 2 publications

(3 citation statements)

References 8 publications

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“…The path planning algorithm aims to generate the shortest path for AMR navigation while considering various constraints such as obstacle avoidance, task requirements and energy consumption. The path planning algorithm reduces AMR energy consumption by minimizing the distance traveled (Alajlan et al , 2017; Yuan et al , 2017; Dechao et al , 2022; Shukla and Kumar, 2022) and avoiding unnecessary movements (Singh et al , 2015; Inderjeet Singh et al , 2020; Shukla and Kumar, 2022). In addition, some algorithms can consider the energy characteristics of different paths and choose the path with the lowest energy consumption (Jaroszek and Trojnacki, 2014; Dogru and Marques, 2015, 2016; Go Sakayori and Ishigami, 2017; Yuan et al , 2017).…”

Section: Energy Optimization For Autonomous Mobile Robotsmentioning

confidence: 99%

A review on energy efficiency in autonomous mobile robots

Wu,

Yeong,

et al. 2023

RIA

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Purpose This paper aims to provide a comprehensive analysis of the state of the art in energy efficiency for autonomous mobile robots (AMRs), focusing on energy sources, consumption models, energy-efficient locomotion, hardware energy consumption, optimization in path planning and scheduling methods, and to suggest future research directions. Design/methodology/approach The systematic literature review (SLR) identified 244 papers for analysis. Research articles published from 2010 onwards were searched in databases including Google Scholar, ScienceDirect and Scopus using keywords and search criteria related to energy and power management in various robotic systems. Findings The review highlights the following key findings: batteries are the primary energy source for AMRs, with advances in battery management systems enhancing efficiency; hybrid models offer superior accuracy and robustness; locomotion contributes over 50% of a mobile robot’s total energy consumption, emphasizing the need for optimized control methods; factors such as the center of mass impact AMR energy consumption; path planning algorithms and scheduling methods are essential for energy optimization, with algorithm choice depending on specific requirements and constraints. Research limitations/implications The review concentrates on wheeled robots, excluding walking ones. Future work should improve consumption models, explore optimization methods, examine artificial intelligence/machine learning roles and assess energy efficiency trade-offs. Originality/value This paper provides a comprehensive analysis of energy efficiency in AMRs, highlighting the key findings from the SLR and suggests future research directions for further advancements in this field.

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Section: Energy Optimization For Autonomous Mobile Robotsmentioning

confidence: 99%

A review on energy efficiency in autonomous mobile robots

Wu,

Yeong,

et al. 2023

RIA

View full text Add to dashboard Cite

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“…It is naturally, the automation of wheeled platforms is significantly restricted by opportunities of instrumental measures for estimating their motion state and their interactions with an environment necessary to define the required controls. Really, a lot of the modern researches are about different kinds problems dealt about controlling, measuring and defining the motion state of the wheeled platforms including the general autonomous navigation and motion safety [3,7,8], the path's trajectory [1,9], the current position and the attitude [4,10] as well as by the velocity [8] and the acceleration [11]. Besides, there are a lot of researches dealt with defining the mechanical interactions between the wheels and the soils [12,13] as well as with estimating the aerodynamic [14] and control forces [15].…”

Section: Introductionmentioning

confidence: 99%

“…Numerical processing of the measured signals is based on using the mathematical models providing the relations between the directly measured signals from the board sensors and the wheeled platforms parameters, so these mathematical models must having all necessary properties agreed with their using purposes, and constructing such mathematical models can be the difficult problem in general. Although, the mathematical models are widely discussed for numeric processing of measuring signals from the board sensors installed on wheeled platforms, but the most researches dealt with the particular kinds of mathematical models, measurements and their processing like in [1,[8][9][10][15][16][17][18][19][20]. At the same time, there are no the conventional generalized approaches of mathematical modelling fit for the numeric processing of the measurement results.…”

Section: Introductionmentioning

confidence: 99%

An approach for numerical simulating and processing of measured electrical signals from board sensors installed on wheeled electro-mechanical platforms

2021

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The generalized approaches of mathematical modelling for numerical simulating and processing of measured electrical signals from board sensors installed on wheeled electro-mechanical platforms are developed in this research. The mathematical backgrounds of the developed approaches are elaborated on the basis of especially formulated initial-value problems need to be solved numerically or the identification procedure need to be applied. It is shown that using the Lagrange's formalism and the electro-mechanical analogies for constructing the improved coupled mathematical models both the mechanics and electrics and electronics of the wheeled platforms and the installed board sensors and the measuring electronic transducers allows having the more information if processing of the measured signals will be on the basis of such improved mathematical models. It is considered the particular example of using the proposed approaches dealt with simulating and processing the measured electric signals from the board accelerometer installed on the four wheeled electro-mechanic platform. Due to this example it was shown that using of the improved mathematical models allows the significantly wider possibilities of accelerometer measuring, so that the different parameters can be estimated by means processing the direct accelerometer measures using the corresponded mathematical models. It was shown that, the most difficulties of identification problems for processing the measured signals from the board sensors installed on the wheeled platforms are due to inherent them the mathematical incorrectness according to Hadamard. The effectiveness of using the filtering of the results of processing the measured signals is shown for the considered particular example of the identification problem also.

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Curve-based Approach for Optimal Trajectory Planning with Optimal Energy Consumption: application to Wheeled Mobile Robots

Cited by 2 publications

References 8 publications

A review on energy efficiency in autonomous mobile robots

A review on energy efficiency in autonomous mobile robots

An approach for numerical simulating and processing of measured electrical signals from board sensors installed on wheeled electro-mechanical platforms

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